On using evolutionary programming for a mobile robot fuzzy motion controller

This paper presents the theoretical development of a complete navigation problem for use in an autonomous mobile robot. The situation for which the vehicle tries to reach the endpoint is treated by using a fuzzy logic controller. The problem of extracting the optimized If-Then rule base is solved using an evolutionary algorithm. Simulation results show that the designed fuzzy controller achieves effectively any movement control of the vehicle from its current position to its end motion.